def put_fk() -> RespT:
"""Get the current state.
---
put:
description: Get the current state.
tags:
- Robot
requestBody:
content:
application/json:
schema:
type: array
items:
$ref: Joint
responses:
200:
description: Ok
content:
application/json:
schema:
$ref: Pose
403:
description: Not started
"""
assert _dobot is not None
joints = [Joint.from_dict(j) for j in request.json]
return jsonify(_dobot.forward_kinematics(joints))
def put_fk() -> RespT:
"""Get the current state.
---
put:
description: Get the current state.
tags:
- Robot
requestBody:
content:
application/json:
schema:
type: array
items:
$ref: Joint
responses:
200:
description: Ok
content:
application/json:
schema:
$ref: Pose
403:
description: Not started
"""
assert _dobot is not None
if not isinstance(request.json, list):
raise FlaskException("Body should be a JSON array containing joints.",
error_code=400)
joints = [Joint.from_dict(j) for j in request.json]
return jsonify(_dobot.forward_kinematics(joints))